Closed Achllle closed 5 years ago
For the inverse of a dual quaternion q = [qwr, qxr, qyr, qzr] + e[qwd, qxd, qyd, qzd] simply is
q = [qwr, qxr, qyr, qzr] + e[qwd, qxd, qyd, qzd]
q^-1 = [qwr, -qxr, -qyr, -qzr] + e[qwd, -qxd, -qyd, -qzd]
I make use of numpy's inverse method instead of just flipping, which normalizes the quaternion.
For the inverse of a dual quaternion
q = [qwr, qxr, qyr, qzr] + e[qwd, qxd, qyd, qzd]simply isI make use of numpy's inverse method instead of just flipping, which normalizes the quaternion.